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<div class="title">ia_ransac.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef IA_RANSAC_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define IA_RANSAC_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/registration.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/transformation_estimation_svd.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html">   54</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html">SampleConsensusInitialAlignment</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_registration.html">Registration</a>&lt;PointSource, PointTarget&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::reg_name_</a>;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::input_</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::indices_</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::target_</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::final_transformation_</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::transformation_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::corr_dist_threshold_</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::min_number_correspondences_</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::max_iterations_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::tree_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::transformation_estimation_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::converged_</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::getClassName</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Registration&lt;PointSource, PointTarget&gt;::PointCloudSource</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::ConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Registration&lt;PointSource, PointTarget&gt;::PointCloudTarget</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">typedef</span> PointIndices::Ptr PointIndicesPtr;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">typedef</span> PointIndices::ConstPtr PointIndicesConstPtr;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;FeatureT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">FeatureCloud</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> FeatureCloud::Ptr FeatureCloudPtr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> FeatureCloud::ConstPtr FeatureCloudConstPtr;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;SampleConsensusInitialAlignment&lt;PointSource, PointTarget, FeatureT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const SampleConsensusInitialAlignment&lt;PointSource, PointTarget, FeatureT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment_1_1_error_functor.html">   88</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1_sample_consensus_initial_alignment_1_1_error_functor.html">ErrorFunctor</a></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1_sample_consensus_initial_alignment_1_1_error_functor.html">ErrorFunctor</a> () {}</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;          <span class="keyword">virtual</span> <span class="keywordtype">float</span> operator () (<span class="keywordtype">float</span> d) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      };</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment_1_1_huber_penalty.html">   95</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1_sample_consensus_initial_alignment_1_1_huber_penalty.html">HuberPenalty</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment_1_1_error_functor.html">ErrorFunctor</a></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keyword">private</span>:</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment_1_1_huber_penalty.html">HuberPenalty</a> () {}</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment_1_1_huber_penalty.html">HuberPenalty</a> (<span class="keywordtype">float</span> threshold)  : threshold_ (threshold) {}</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          <span class="keyword">virtual</span> <span class="keywordtype">float</span> operator () (<span class="keywordtype">float</span> e)<span class="keyword"> const</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="keyword">          </span>{ </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            <span class="keywordflow">if</span> (e &lt;= threshold_)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;              <span class="keywordflow">return</span> (0.5 * e*e); </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;              <span class="keywordflow">return</span> (0.5 * threshold_ * (2.0 * fabs (e) - threshold_));</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          <span class="keywordtype">float</span> threshold_;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      };</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment_1_1_truncated_error.html">  112</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1_sample_consensus_initial_alignment_1_1_truncated_error.html">TruncatedError</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment_1_1_error_functor.html">ErrorFunctor</a></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keyword">private</span>:</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment_1_1_truncated_error.html">TruncatedError</a> () {}</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1_sample_consensus_initial_alignment_1_1_truncated_error.html">TruncatedError</a> () {}</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment_1_1_truncated_error.html">TruncatedError</a> (<span class="keywordtype">float</span> threshold) : threshold_ (threshold) {}</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          <span class="keyword">virtual</span> <span class="keywordtype">float</span> operator () (<span class="keywordtype">float</span> e)<span class="keyword"> const</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="keyword">          </span>{ </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            <span class="keywordflow">if</span> (e &lt;= threshold_)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;              <span class="keywordflow">return</span> (e / threshold_);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;              <span class="keywordflow">return</span> (1.0);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          <span class="keywordtype">float</span> threshold_;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      };</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">KdTreeFLANN&lt;FeatureT&gt;::Ptr</a> FeatureKdTreePtr; </div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#ad2b4f2ccfa4bf14f74ded6938091e823">  133</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#ad2b4f2ccfa4bf14f74ded6938091e823">SampleConsensusInitialAlignment</a> () : </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#aacb640beed8fc0c4b68b3ef8eb3d424f">input_features_</a> (), <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a8afa7f8ccac81b494777810fa0bb26cd">target_features_</a> (), </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#ab3cc6409bfde870cf427e235a3a1572e">nr_samples_</a>(3), <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a958e4ace49a843f65cb8383deaf682c7">min_sample_distance_</a> (0.0f), <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#add6943ce651a6c5e62583d778050d2da">k_correspondences_</a> (10), </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a7dd79157bdc981e15b47336142b89e5b">feature_tree_</a> (new pcl::<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">KdTreeFLANN</a>&lt;FeatureT&gt;),</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        error_functor_ ()</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">reg_name_</a> = <span class="stringliteral">&quot;SampleConsensusInitialAlignment&quot;</span>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#aa776d097d20137f2702a275d931989d2">max_iterations_</a> = 1000;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="comment">// Setting a non-std::numeric_limits&lt;double&gt;::max () value to corr_dist_threshold_ to make it play nicely with TruncatedError</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a15aa975f33a8f22573bad118ddda10dd">corr_dist_threshold_</a> = 100.0f;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a99baaa7e513bda9103c58fd1471557ed">transformation_estimation_</a>.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD&lt;PointSource, PointTarget&gt;</a>);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      };</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#aefc78c638aea7acebd0cbba4bf8a0d8c">setSourceFeatures</a> (<span class="keyword">const</span> FeatureCloudConstPtr &amp;features);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keyword">inline</span> FeatureCloudConstPtr <span class="keyword">const</span> </div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#ae7a0faaa66fd6c8919649b11149e34a4">  155</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#ae7a0faaa66fd6c8919649b11149e34a4">getSourceFeatures</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#aacb640beed8fc0c4b68b3ef8eb3d424f">input_features_</a>); }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a8465edbc2a91fdd7fe8c44975ed7c658">setTargetFeatures</a> (<span class="keyword">const</span> FeatureCloudConstPtr &amp;features);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="keyword">inline</span> FeatureCloudConstPtr <span class="keyword">const</span> </div>
<div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#a002a81bf4c4de2630ad76bae3003ff5a">  165</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a002a81bf4c4de2630ad76bae3003ff5a">getTargetFeatures</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a8afa7f8ccac81b494777810fa0bb26cd">target_features_</a>); }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#a6dff291eef83d6ad0bd63ccd3de7615b">  171</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a6dff291eef83d6ad0bd63ccd3de7615b">setMinSampleDistance</a> (<span class="keywordtype">float</span> min_sample_distance) { <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a958e4ace49a843f65cb8383deaf682c7">min_sample_distance_</a> = min_sample_distance; }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#a8bdfeb30c88408de81bef0b310f44683">  175</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a8bdfeb30c88408de81bef0b310f44683">getMinSampleDistance</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a958e4ace49a843f65cb8383deaf682c7">min_sample_distance_</a>); }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#a89bc5f31e1ad1688b7b9c0369d9e3c53">  181</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a89bc5f31e1ad1688b7b9c0369d9e3c53">setNumberOfSamples</a> (<span class="keywordtype">int</span> nr_samples) { <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#ab3cc6409bfde870cf427e235a3a1572e">nr_samples_</a> = nr_samples; }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#a54f2d4444aadc9fbafb5e89ba471e715">  185</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a54f2d4444aadc9fbafb5e89ba471e715">getNumberOfSamples</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#ab3cc6409bfde870cf427e235a3a1572e">nr_samples_</a>); }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#acaec36be0a543355bc9150b9733817fa">  192</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#acaec36be0a543355bc9150b9733817fa">setCorrespondenceRandomness</a> (<span class="keywordtype">int</span> k) { <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#add6943ce651a6c5e62583d778050d2da">k_correspondences_</a> = k; }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#ac157abb21aa004e5d2f87dff01160d20">  196</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#ac157abb21aa004e5d2f87dff01160d20">getCorrespondenceRandomness</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#add6943ce651a6c5e62583d778050d2da">k_correspondences_</a>); }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#abd0eac420538dc7ea1f4057a5b1694cd">  203</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#abd0eac420538dc7ea1f4057a5b1694cd">setErrorFunction</a> (<span class="keyword">const</span> boost::shared_ptr&lt;ErrorFunctor&gt; &amp; error_functor) { error_functor_ = error_functor; }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      boost::shared_ptr&lt;ErrorFunctor&gt;</div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#a998ecc7657c30b6bc4d3963fabc9f849">  209</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a998ecc7657c30b6bc4d3963fabc9f849">getErrorFunction</a> () { <span class="keywordflow">return</span> (error_functor_); }</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#a6c21de8ef4ffac4eefad5c909f106e35">  216</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a6c21de8ef4ffac4eefad5c909f106e35">getRandomIndex</a> (<span class="keywordtype">int</span> n) { <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (n * (rand () / (RAND_MAX + 1.0)))); };</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a80676d8c0e7029d244df708077a56ddf">selectSamples</a> (<span class="keyword">const</span> PointCloudSource &amp;cloud, <span class="keywordtype">int</span> nr_samples, <span class="keywordtype">float</span> min_sample_distance, </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                     std::vector&lt;int&gt; &amp;sample_indices);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a445822a8a2e2bfa8bb21de5c4f9a0d4f">findSimilarFeatures</a> (<span class="keyword">const</span> FeatureCloud &amp;input_features, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;sample_indices, </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                           std::vector&lt;int&gt; &amp;corresponding_indices);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a617ecf46949eea76fd91ae0a729c3d50">computeErrorMetric</a> (<span class="keyword">const</span> PointCloudSource &amp;cloud, <span class="keywordtype">float</span> threshold);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a8d4d39f03041cfe5b6242cebb2551afa">computeTransformation</a> (PointCloudSource &amp;output, <span class="keyword">const</span> Eigen::Matrix4f&amp; guess);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#aacb640beed8fc0c4b68b3ef8eb3d424f">  255</a></span>&#160;      FeatureCloudConstPtr <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#aacb640beed8fc0c4b68b3ef8eb3d424f">input_features_</a>;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#a8afa7f8ccac81b494777810fa0bb26cd">  258</a></span>&#160;      FeatureCloudConstPtr <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a8afa7f8ccac81b494777810fa0bb26cd">target_features_</a>;  </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#ab3cc6409bfde870cf427e235a3a1572e">  261</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#ab3cc6409bfde870cf427e235a3a1572e">nr_samples_</a>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#a958e4ace49a843f65cb8383deaf682c7">  264</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a958e4ace49a843f65cb8383deaf682c7">min_sample_distance_</a>;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#add6943ce651a6c5e62583d778050d2da">  267</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#add6943ce651a6c5e62583d778050d2da">k_correspondences_</a>;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;     </div>
<div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_initial_alignment.html#a7dd79157bdc981e15b47336142b89e5b">  270</a></span>&#160;      FeatureKdTreePtr <a class="code" href="classpcl_1_1_sample_consensus_initial_alignment.html#a7dd79157bdc981e15b47336142b89e5b">feature_tree_</a>;               </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      boost::shared_ptr&lt;ErrorFunctor&gt; error_functor_;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  };</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;}</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/ia_ransac.hpp&gt;</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef IA_RANSAC_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html">pcl::KdTreeFLANN</a></div><div class="ttdoc">KdTreeFLANN is a generic type of 3D spatial locator using kD-tree structures. The class is making use...</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html"><div class="ttname"><a href="classpcl_1_1_registration.html">pcl::Registration</a></div><div class="ttdoc">Registration represents the base registration class for general purpose, ICP-like methods.</div><div class="ttdef"><b>Definition:</b> registration.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a15aa975f33a8f22573bad118ddda10dd"><div class="ttname"><a href="classpcl_1_1_registration.html#a15aa975f33a8f22573bad118ddda10dd">pcl::Registration::corr_dist_threshold_</a></div><div class="ttdeci">double corr_dist_threshold_</div><div class="ttdoc">The maximum distance threshold between two correspondent points in source &lt;-&gt; target....</div><div class="ttdef"><b>Definition:</b> registration.h:527</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a1e493af70763e05bcaf5ecd0ed7be63d"><div class="ttname"><a href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">pcl::Registration::reg_name_</a></div><div class="ttdeci">std::string reg_name_</div><div class="ttdoc">The registration method name.</div><div class="ttdef"><b>Definition:</b> registration.h:482</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a99baaa7e513bda9103c58fd1471557ed"><div class="ttname"><a href="classpcl_1_1_registration.html#a99baaa7e513bda9103c58fd1471557ed">pcl::Registration::transformation_estimation_</a></div><div class="ttdeci">TransformationEstimationPtr transformation_estimation_</div><div class="ttdoc">A TransformationEstimation object, used to calculate the 4x4 rigid transformation.</div><div class="ttdef"><b>Definition:</b> registration.h:547</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_aa776d097d20137f2702a275d931989d2"><div class="ttname"><a href="classpcl_1_1_registration.html#aa776d097d20137f2702a275d931989d2">pcl::Registration::max_iterations_</a></div><div class="ttdeci">int max_iterations_</div><div class="ttdoc">The maximum number of iterations the internal optimization should run for. The default value is 10.</div><div class="ttdef"><b>Definition:</b> registration.h:496</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_1_1_error_functor_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment_1_1_error_functor.html">pcl::SampleConsensusInitialAlignment::ErrorFunctor</a></div><div class="ttdef"><b>Definition:</b> ia_ransac.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_1_1_huber_penalty_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment_1_1_huber_penalty.html">pcl::SampleConsensusInitialAlignment::HuberPenalty</a></div><div class="ttdef"><b>Definition:</b> ia_ransac.h:96</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_1_1_truncated_error_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment_1_1_truncated_error.html">pcl::SampleConsensusInitialAlignment::TruncatedError</a></div><div class="ttdef"><b>Definition:</b> ia_ransac.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html">pcl::SampleConsensusInitialAlignment</a></div><div class="ttdoc">SampleConsensusInitialAlignment is an implementation of the initial alignment algorithm described in ...</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:55</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a002a81bf4c4de2630ad76bae3003ff5a"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a002a81bf4c4de2630ad76bae3003ff5a">pcl::SampleConsensusInitialAlignment::getTargetFeatures</a></div><div class="ttdeci">FeatureCloudConstPtr const getTargetFeatures()</div><div class="ttdoc">Get a pointer to the target point cloud's features</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:165</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a445822a8a2e2bfa8bb21de5c4f9a0d4f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a445822a8a2e2bfa8bb21de5c4f9a0d4f">pcl::SampleConsensusInitialAlignment::findSimilarFeatures</a></div><div class="ttdeci">void findSimilarFeatures(const FeatureCloud &amp;input_features, const std::vector&lt; int &gt; &amp;sample_indices, std::vector&lt; int &gt; &amp;corresponding_indices)</div><div class="ttdoc">For each of the sample points, find a list of points in the target cloud whose features are similar t...</div><div class="ttdef"><b>Definition:</b> ia_ransac.hpp:132</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a54f2d4444aadc9fbafb5e89ba471e715"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a54f2d4444aadc9fbafb5e89ba471e715">pcl::SampleConsensusInitialAlignment::getNumberOfSamples</a></div><div class="ttdeci">int getNumberOfSamples()</div><div class="ttdoc">Get the number of samples to use during each iteration, as set by the user</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a617ecf46949eea76fd91ae0a729c3d50"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a617ecf46949eea76fd91ae0a729c3d50">pcl::SampleConsensusInitialAlignment::computeErrorMetric</a></div><div class="ttdeci">float computeErrorMetric(const PointCloudSource &amp;cloud, float threshold)</div><div class="ttdoc">An error metric for that computes the quality of the alignment between the given cloud and the target...</div><div class="ttdef"><b>Definition:</b> ia_ransac.hpp:153</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a6c21de8ef4ffac4eefad5c909f106e35"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a6c21de8ef4ffac4eefad5c909f106e35">pcl::SampleConsensusInitialAlignment::getRandomIndex</a></div><div class="ttdeci">int getRandomIndex(int n)</div><div class="ttdoc">Choose a random index between 0 and n-1</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:216</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a6dff291eef83d6ad0bd63ccd3de7615b"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a6dff291eef83d6ad0bd63ccd3de7615b">pcl::SampleConsensusInitialAlignment::setMinSampleDistance</a></div><div class="ttdeci">void setMinSampleDistance(float min_sample_distance)</div><div class="ttdoc">Set the minimum distances between samples</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:171</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a7dd79157bdc981e15b47336142b89e5b"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a7dd79157bdc981e15b47336142b89e5b">pcl::SampleConsensusInitialAlignment::feature_tree_</a></div><div class="ttdeci">FeatureKdTreePtr feature_tree_</div><div class="ttdoc">The KdTree used to compare feature descriptors.</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:270</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a80676d8c0e7029d244df708077a56ddf"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a80676d8c0e7029d244df708077a56ddf">pcl::SampleConsensusInitialAlignment::selectSamples</a></div><div class="ttdeci">void selectSamples(const PointCloudSource &amp;cloud, int nr_samples, float min_sample_distance, std::vector&lt; int &gt; &amp;sample_indices)</div><div class="ttdoc">Select nr_samples sample points from cloud while making sure that their pairwise distances are greate...</div><div class="ttdef"><b>Definition:</b> ia_ransac.hpp:73</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a8465edbc2a91fdd7fe8c44975ed7c658"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a8465edbc2a91fdd7fe8c44975ed7c658">pcl::SampleConsensusInitialAlignment::setTargetFeatures</a></div><div class="ttdeci">void setTargetFeatures(const FeatureCloudConstPtr &amp;features)</div><div class="ttdoc">Provide a boost shared pointer to the target point cloud's feature descriptors</div><div class="ttdef"><b>Definition:</b> ia_ransac.hpp:60</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a89bc5f31e1ad1688b7b9c0369d9e3c53"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a89bc5f31e1ad1688b7b9c0369d9e3c53">pcl::SampleConsensusInitialAlignment::setNumberOfSamples</a></div><div class="ttdeci">void setNumberOfSamples(int nr_samples)</div><div class="ttdoc">Set the number of samples to use during each iteration</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:181</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a8afa7f8ccac81b494777810fa0bb26cd"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a8afa7f8ccac81b494777810fa0bb26cd">pcl::SampleConsensusInitialAlignment::target_features_</a></div><div class="ttdeci">FeatureCloudConstPtr target_features_</div><div class="ttdoc">The target point cloud's feature descriptors.</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:258</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a8bdfeb30c88408de81bef0b310f44683"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a8bdfeb30c88408de81bef0b310f44683">pcl::SampleConsensusInitialAlignment::getMinSampleDistance</a></div><div class="ttdeci">float getMinSampleDistance()</div><div class="ttdoc">Get the minimum distances between samples, as set by the user</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:175</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a8d4d39f03041cfe5b6242cebb2551afa"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a8d4d39f03041cfe5b6242cebb2551afa">pcl::SampleConsensusInitialAlignment::computeTransformation</a></div><div class="ttdeci">virtual void computeTransformation(PointCloudSource &amp;output, const Eigen::Matrix4f &amp;guess)</div><div class="ttdoc">Rigid transformation computation method.</div><div class="ttdef"><b>Definition:</b> ia_ransac.hpp:175</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a958e4ace49a843f65cb8383deaf682c7"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a958e4ace49a843f65cb8383deaf682c7">pcl::SampleConsensusInitialAlignment::min_sample_distance_</a></div><div class="ttdeci">float min_sample_distance_</div><div class="ttdoc">The minimum distances between samples.</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:264</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_a998ecc7657c30b6bc4d3963fabc9f849"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#a998ecc7657c30b6bc4d3963fabc9f849">pcl::SampleConsensusInitialAlignment::getErrorFunction</a></div><div class="ttdeci">boost::shared_ptr&lt; ErrorFunctor &gt; getErrorFunction()</div><div class="ttdoc">Get a shared pointer to the ErrorFunctor that is to be minimized</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_aacb640beed8fc0c4b68b3ef8eb3d424f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#aacb640beed8fc0c4b68b3ef8eb3d424f">pcl::SampleConsensusInitialAlignment::input_features_</a></div><div class="ttdeci">FeatureCloudConstPtr input_features_</div><div class="ttdoc">The source point cloud's feature descriptors.</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:255</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_ab3cc6409bfde870cf427e235a3a1572e"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#ab3cc6409bfde870cf427e235a3a1572e">pcl::SampleConsensusInitialAlignment::nr_samples_</a></div><div class="ttdeci">int nr_samples_</div><div class="ttdoc">The number of samples to use during each iteration.</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:261</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_abd0eac420538dc7ea1f4057a5b1694cd"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#abd0eac420538dc7ea1f4057a5b1694cd">pcl::SampleConsensusInitialAlignment::setErrorFunction</a></div><div class="ttdeci">void setErrorFunction(const boost::shared_ptr&lt; ErrorFunctor &gt; &amp;error_functor)</div><div class="ttdoc">Specify the error function to minimize</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_ac157abb21aa004e5d2f87dff01160d20"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#ac157abb21aa004e5d2f87dff01160d20">pcl::SampleConsensusInitialAlignment::getCorrespondenceRandomness</a></div><div class="ttdeci">int getCorrespondenceRandomness()</div><div class="ttdoc">Get the number of neighbors used when selecting a random feature correspondence, as set by the user</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:196</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_acaec36be0a543355bc9150b9733817fa"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#acaec36be0a543355bc9150b9733817fa">pcl::SampleConsensusInitialAlignment::setCorrespondenceRandomness</a></div><div class="ttdeci">void setCorrespondenceRandomness(int k)</div><div class="ttdoc">Set the number of neighbors to use when selecting a random feature correspondence....</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:192</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_ad2b4f2ccfa4bf14f74ded6938091e823"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#ad2b4f2ccfa4bf14f74ded6938091e823">pcl::SampleConsensusInitialAlignment::SampleConsensusInitialAlignment</a></div><div class="ttdeci">SampleConsensusInitialAlignment()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_add6943ce651a6c5e62583d778050d2da"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#add6943ce651a6c5e62583d778050d2da">pcl::SampleConsensusInitialAlignment::k_correspondences_</a></div><div class="ttdeci">int k_correspondences_</div><div class="ttdoc">The number of neighbors to use when selecting a random feature correspondence.</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:267</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_ae7a0faaa66fd6c8919649b11149e34a4"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#ae7a0faaa66fd6c8919649b11149e34a4">pcl::SampleConsensusInitialAlignment::getSourceFeatures</a></div><div class="ttdeci">FeatureCloudConstPtr const getSourceFeatures()</div><div class="ttdoc">Get a pointer to the source point cloud's features</div><div class="ttdef"><b>Definition:</b> ia_ransac.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_initial_alignment_html_aefc78c638aea7acebd0cbba4bf8a0d8c"><div class="ttname"><a href="classpcl_1_1_sample_consensus_initial_alignment.html#aefc78c638aea7acebd0cbba4bf8a0d8c">pcl::SampleConsensusInitialAlignment::setSourceFeatures</a></div><div class="ttdeci">void setSourceFeatures(const FeatureCloudConstPtr &amp;features)</div><div class="ttdoc">Provide a boost shared pointer to the source point cloud's feature descriptors</div><div class="ttdef"><b>Definition:</b> ia_ransac.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_s_v_d_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD</a></div><div class="ttdef"><b>Definition:</b> transformation_estimation_svd.h:59</div></div>
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